I've seen localization based on the ceiling image mentioned a few places[1],[2] but its not clear to me if a ros package like RGBDSLAM or RTABMAP can be used with a kinect pointing at the ceiling ?
If not, is there another package that can be used to perform SLAM and then localization based on the ceiling ?
[1] https://www.ri.cmu.edu/pub_files/pub1/thrun_sebastian_1999_1/thrun_sebastian_1999_1.pdf
[2] http://www.iros2014.org/program/kinect-robot-navigation-contest
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